JP2017032368A - Ultrasonic inspection device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an ultrasonic inspection device which has superior operability in press insertion into a pipe.SOLUTION: An ultrasonic inspection device according to the present invention includes an internal movement part 110, an external operation part, and a cable 130. The internal movement part 110 is made to travel in a pipe 900 in a press-in manner, and provided with wheels, an air cylinder making the wheels abut on an inner wall of the pipe, an ultrasonic probe, an acoustic reflection part provided at a transmission destination of the ultrasonic probe, and a hollow shaft motor rotating the acoustic reflection part. The external operation part operates the air cylinder and hollow shaft motor. The cable 130 couples the internal movement part 110 to the external operation part, and at least includes an air tube 130 linked to the air cylinder and an electric cable housed in the air tube 130 and connected to the hollow shaft motor. Further, the cable 130 has straightness and a bending rigidity of 300kN mmto 12,000 kN mm.SELECTED DRAWING: Figure 25

Description

  The present invention relates to an ultrasonic inspection apparatus that travels inside a tube. More specifically, the present invention relates to an ultrasonic inspection apparatus that can be easily pushed into a main pipe by using a narrow branch pipe as an entrance.

  An inspection device that travels in a tube is usually configured to be supplied with electric power from a device outside the tube by being connected to the device outside the tube via a cable.

  In-pipe automatic traveling device 6 described in Japanese Patent Application Laid-Open No. 08-164852 (Patent Document 1) includes a cable 23 ′ connected to a control panel 20 on the ground via a cable 23, and generation of compressed air outside the pipe. A compressed air supply pipe 25 connected to the source 18 via the connection path 31 is connected via the connection portion 16 while being accommodated in the flexible pipe 15.

  In the in-pipe inspection apparatus described in Japanese Patent Laying-Open No. 2005-181140 (Patent Document 2), the traction carriage 300 in the pipe presses the running tire 310 against the inner surface 2a of the pipe 2 by an air cylinder, and the running motor 310 is rotated by a drive motor. It is comprised so that it may drive self by driving, and the electric power for drive motors is supplied via the cable 500 from the ground part.

Japanese Patent Application Laid-Open No. 08-164852 JP-A-2005-181140

  There are a tow type, a self-propelled type, and a push-in type as a running method of the in-pipe inspection apparatus, and the self-propelled type is often adopted. Both the in-pipe automatic traveling device 6 of Patent Literature 1 and the in-pipe inspection device of Patent Literature 2 are self-propelled. However, since it is premised on that the apparatus for in-tube flaw detection is damaged or the like in the tube, it is preferable to adopt a push-in type in consideration of safety.

  In order to run in the tube by pushing-in, the cable connected to the backward direction side of the in-tube inspection device needs to be rigid and straight to enable pushing. On the other hand, regardless of the traveling method, it is essential that the cable be bent and wound outside the pipe because it is necessary to ensure a sufficient length according to the length of the pipe. When the aspect of the cable material wound in this way is a hollow tube, it is usually a flexible tube wound around the outer periphery of the winding core. In such a flexible tube, since the bent state and the twisted state are memorized even when the winding is unwound (with a curl), the straightness is inevitably lost. Therefore, the push-type in-pipe inspection apparatus has a problem in push-in operability.

  Therefore, an object of the present invention is to provide an ultrasonic inspection apparatus that is excellent in operability for pushing into a tube.

(1)
The ultrasonic inspection apparatus of the present invention includes an internal movement unit, an external operation unit, and a cable.
The internal moving part is used to drive the inside of the tube by pushing it in. The wheel, the air cylinder that makes the wheel contact the inner wall of the tube, the ultrasonic probe, and the sound provided at the destination of the ultrasonic probe A hollow shaft motor that rotates the reflecting portion and the acoustic reflecting portion is provided.
The external operation unit operates the air cylinder and the hollow shaft motor.
The cable connects the internal moving unit and the external operation unit, and includes at least an air tube communicating with the air cylinder and an electric cable housed in the air tube and connected to the hollow shaft motor. Furthermore, the cable has a straightness and 300 kN · mm ² or more 12,000kN · mm ² or less of bending stiffness.

In this way, the cable has straightness, and has a bending rigidity of 300 kN · mm ² or more that ensures straightness, so that the push-in operability of the ultrasonic inspection apparatus is excellent. Furthermore, since the cable has a bending rigidity of 12,000 kN · mm ² or less, winding outside the tube is easy.

(2)
The ultrasonic inspection apparatus described in the above (1) may include a core material that is housed inside the air tube and at least one end of which is not fixed, and the core material may have straightness.

  Thus, by assuring straightness with the core material, a versatile air tube having no straightness can be used. Furthermore, since at least one end is not fixed, the relative position between the air tube and the core material can be freely changed, so that the burden on the cable components in the form change between the wound state and the wound state and the straight state Can be reduced.

(3)
In the ultrasonic inspection apparatus described in (2) above, the other end of the core material may be fixed to at least one of an air tube, an electric cable, and an internal moving unit.

  In this way, by fixing only the other end of the core material to an appropriate component of the ultrasonic inspection apparatus, the core material can be stably accommodated in the air tube, and the wound state, the wound state, and the straight state Thus, the burden on the cable components due to the change in form can be reduced.

(4)
In the ultrasonic inspection apparatus according to the above (2) or (3), the bending rigidity of the air tube may be 300 GPa or more and 5000 GPa or less, and the bending rigidity of the core material may be 300 GPa or more and 12000 GPa or less.

  By configuring each bending rigidity in this way, a predetermined bending rigidity of the entire cable can be easily expressed.

(5)
In the ultrasonic inspection apparatus according to (2) to (4) above, the Ra / Rc ratio may be 1 or more and 5 or less, where Ra is the inner diameter of the air tube and Rc is the outer diameter of the core material.

  By designing so as to have such a Ra / Rc ratio, it is easy to ensure a sufficient air phase in the air tube and to ensure straightness as the entire cable.

(6)
In the ultrasonic inspection apparatus described in (1) above, the air tube may have straightness.

  Thus, by making the air tube ensure straight advanceability, it is not necessary to house the core material as in the above (2), and a simple configuration can be obtained.

(7)
In the ultrasonic inspection apparatus described in (1) to (6) above, the thickness of the air tube may be 1.8 mm or greater and 4.0 mm or less.

  By configuring the thickness of the air tube in this way, it is easy to prevent pressure loss due to external pressure, and it is easy to ensure a predetermined bending rigidity.

(8)
In the ultrasonic inspection apparatus according to (1) to (7) above, the ratio of the cross-sectional area of the gas phase in the air tube to the entire internal space of the air tube is 20% or more in the cross section perpendicular to the axial direction of the cable. It may be 95% or less.

  Thus, by ensuring the gas phase in the air tube at a predetermined ratio, buoyancy can be effectively used, and the cable is less likely to contact the lower part of the pipe and the upper part.

  According to the present invention, an ultrasonic inspection apparatus excellent in operability for pushing into a tube is provided.

It is a block diagram of the ultrasonic inspection apparatus of a 1st embodiment. It is an external appearance side view at the time of diameter expansion of the internal movement part in the ultrasonic inspection apparatus of 1st Embodiment during ultrasonic measurement. It is a typical partial notch side sectional view of the head move part of the ultrasonic inspection device of a 1st embodiment. It is the IV-IV sectional view taken on the line of FIG. It is an external appearance front view at the time of diameter expansion in the ultrasonic measurement of the ultrasonic inspection apparatus of 1st Embodiment. It is a typical sectional side view of the head movement part in the ultrasonic inspection apparatus of 1st Embodiment. It is a typical partial notch side sectional view of the interlocking movement part of the ultrasonic inspection apparatus of a 1st embodiment. It is a typical partial notch side sectional view at the time of diameter reduction of the ultrasonic inspection device of a 1st embodiment. It is a sectional view at the time of diameter reduction of the ultrasonic inspection device of a 1st embodiment. The internal movement part of the ultrasonic inspection apparatus of 1st Embodiment is expressed simply. It is a figure explaining the process in which the ultrasonic inspection apparatus of 1st Embodiment is advanced from a branch pipe to a main pipe. It is a figure explaining the process in which the ultrasonic inspection apparatus of 1st Embodiment is advanced from a branch pipe to a main pipe. It is a figure explaining the process in which the ultrasonic inspection apparatus of 1st Embodiment is advanced from a branch pipe to a main pipe. It is a figure explaining the process of alignment in the main pipe | tube of the ultrasonic inspection apparatus of 1st Embodiment. It is a figure explaining the process of alignment in the main pipe | tube of the ultrasonic inspection apparatus of 1st Embodiment. It is a figure explaining the process of alignment in the main pipe | tube of the ultrasonic inspection apparatus of 1st Embodiment. It is a figure explaining the process in which the ultrasonic inspection apparatus of a 1st embodiment is withdrawn from a main pipe through a branch pipe. It is the figure which showed simply the ultrasonic inspection apparatus (internal movement part) of other embodiment. It is the figure which showed simply the ultrasonic inspection apparatus (internal movement part) of other embodiment. It is the figure which showed simply the ultrasonic inspection apparatus (internal movement part) of other embodiment. It is the figure which showed simply the ultrasonic inspection apparatus (internal movement part) of other embodiment. It is the figure which showed simply the ultrasonic inspection apparatus (internal movement part) of other embodiment. It is the figure which showed simply the ultrasonic inspection apparatus (internal movement part) of other embodiment. It is a partial external appearance side view of the ultrasonic inspection apparatus (internal movement part) of other embodiment. It is a schematic diagram which shows the aspect at the time of use of the ultrasonic inspection apparatus of 1st Embodiment. It is a schematic diagram explaining the straight advanceability of the cable of the ultrasonic inspection apparatus of 1st Embodiment. It is a typical partial notch figure of the cable of the ultrasonic inspection apparatus of 1st Embodiment. It is typical sectional drawing of the cable of the ultrasonic inspection apparatus of 1st Embodiment. It is a typical sectional view of a cable of an ultrasonic inspection device of other embodiments. It is a typical sectional view of a cable of an ultrasonic inspection device of other embodiments.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings. In the following description, the same elements are denoted by the same reference numerals, and their names and functions are also the same. Therefore, detailed description thereof will not be repeated basically.

[First Embodiment]
FIG. 1 is a block diagram of the ultrasonic inspection apparatus according to the first embodiment.
FIG. 2 is an external side view of the internal moving unit in the ultrasonic inspection apparatus according to the first embodiment when the diameter is increased during ultrasonic measurement. FIG. 3 is a schematic partially cutaway side cross-sectional view of the leading moving portion of the ultrasonic inspection apparatus according to the first embodiment. In FIG. 3, the main shaft portion is mainly cut away. 4 is a cross-sectional view taken along line IV-IV in FIG. FIG. 5 is an external front view when the diameter is expanded during ultrasonic measurement of the ultrasonic inspection apparatus according to the first embodiment. The front means an external appearance when the ultrasonic inspection apparatus is viewed from the traveling direction side toward the backward direction.
FIG. 6 is a schematic side cross-sectional view of the leading moving portion in the ultrasonic inspection apparatus according to the first embodiment. In FIG. 6, the main alignment portion of the leading moving portion is not shown.
FIG. 7 is a schematic partially cutaway side cross-sectional view of the interlocking movement unit of the ultrasonic inspection apparatus according to the first embodiment. In FIG. 7, the auxiliary shaft portion is mainly cut away.
FIG. 8 is a schematic partially cutaway side cross-sectional view of the ultrasonic inspection apparatus according to the first embodiment when the diameter is reduced. FIG. 8 is displayed in the same manner as FIG. 3 except that the enlargement / reduction mode is different. FIG. 9 is a sectional view of the ultrasonic inspection apparatus according to the first embodiment when the diameter is reduced. FIG. 9 is displayed in the same manner as FIG. 4 except that the enlargement / reduction mode is different.

  In the following description, the axis O indicates the axis of the inner wall surface L, but may also indicate the axis of the main axis when the ultrasonic inspection apparatus is aligned. Moreover, the radial direction of the inner wall surface L may be described as the radial direction.

[Configuration overview]
As shown in FIG. 1, the ultrasonic inspection apparatus 100 according to the present embodiment includes an internal movement unit 110 and an external operation unit 120. The internal movement unit 110 and the external operation unit 120 are physically and electrically connected by a cable 130.

  The internal moving unit 110 is a portion that is inserted into the tube and travels in the axial direction of the tube, and includes a leading moving unit 111 and an interlocking moving unit 115. The leading moving part 111 and the interlocking moving part 115 are connected by a flexible part 113. The cable 130 is also interposed between the leading moving unit 111 and the interlocking moving unit 115.

The head moving unit 111 includes a cylindrical main shaft unit 200, a main air cylinder 300, a main alignment unit 400, a wheel 500, a hollow shaft motor 610, and an ultrasonic probe 710 and an acoustic reflection unit 720 that constitute the detection unit 700. Including.
The interlocking movement part 115 includes a cylindrical auxiliary shaft part 250, an auxiliary air cylinder 350, an auxiliary alignment part 450, and a wheel 500.

  The external operation unit 120 is a part that is operated outside the pipe, and includes an input unit such as an expansion / contraction control unit 121, other motor control unit 122, and detection condition control unit 124, a detection information analysis unit 125, and an output unit 126. .

  The expansion / contraction control unit 121 controls expansion / contraction of the main air cylinder 300 and the sub air cylinder 350. Specific examples include a sequencer for controlling a solenoid valve (which will be described later), which is an example of components constituting each of the main air cylinder 300 and the sub air cylinder 350, an air supply source, and the like. The motor control unit 122 controls the hollow shaft motor 610. The detection condition control unit 124 controls the detection unit 700 such as control of input information such as measurement conditions and feedback control based on output information such as measurement results. The detection information analysis unit 125 analyzes output information from the detection unit 700. The output unit 126 outputs information output by the detection unit 700.

[Spindle part]
As shown in FIGS. 2 and 3, the leading moving portion 111 of the internal moving portion 110 has a main shaft portion 200. The main shaft portion 200 extends along the traveling direction FW in the tube during ultrasonic measurement. The main shaft portion 200 includes a shaft housing portion 210 and a connecting member 220 provided on the outer peripheral surface of the shaft housing portion 210.

A desired member can be accommodated in the shaft housing part 210. For example, related parts (described later) of the main air cylinder 300 can be accommodated. In addition, the cable 130 shown in FIG. 1 can be accommodated.
As shown in FIG. 3, the shaft housing portion 210 of the present embodiment includes a large-diameter portion 211 on the traveling direction FW side and a small-diameter portion 212 whose outer diameter is smaller than the large-diameter portion 211 on the backward direction BW side. It is configured to include. The large-diameter portion 211 and the small-diameter portion 212 also serve as constituent members of the main air cylinder 300 described later.
Further, the shaft housing part 210 has a thread formed on the surface of the end part of the small diameter part 212 on the backward direction BW side, and is connected to a flexible part 113 to be described later through screwing to the nut. In the present embodiment, the nut is also positioned as a part of the shaft housing part 210.

The connecting member 220 connects another member to the main shaft portion 200. In the present embodiment, the connecting member 220 connects the main alignment portion 400. The connecting member 220 is provided in a manner corresponding to the expansion / contraction mechanism of the main alignment portion 400.
As shown in FIGS. 2 and 3, the connecting member 220 of the present embodiment includes a fixing ring 225 fixed to the outer peripheral surface of the shaft housing part 210 on the backward direction BW side, and a shaft housing on the traveling direction FW side. And a sliding ring 226 provided so as to be slidable on the outer peripheral surface of the portion 210 in the axial direction. More specifically, as shown in FIG. 3, the sliding ring 226 is thinned except for the end portion in the backward direction BW, and the thinned portion is outside the outer peripheral surface of the large diameter portion 211 of the shaft housing portion 210. Slide in the axial direction in the inserted state. This slidable structure also serves as the structure of the main air cylinder 300 described later.

  Further, as shown in FIG. 3, a support shaft portion 221 and a support shaft portion 223 protrude from the fixing ring 225. Both the support shaft part 221 and the support shaft part 223 are disposed at the same position in the axial direction. The sliding ring 226 is provided with a support shaft portion 222 and a support shaft portion 224. The support shaft portion 222 is disposed on the traveling direction side, and the support shaft portion 224 is disposed on the retreating direction side. Each support shaft part 221, 222, 223, 224 is a base end of each arm (main alignment arm 411, link arm 412, auxiliary alignment arm 423, and auxiliary link arm 424, which will be described later) constituting the main alignment unit 400. Axis.

[Main air cylinder]
The main air cylinder 300 is an actuator that is driven using the pressure of air. Therefore, the main air cylinder 300 is composed of a piston part 310, a cylinder part 320, and other related parts not shown. Examples of the related parts include parts necessary for air circulation, specifically, air piping that communicates with a compressed air source (see the expansion / contraction control unit 121 in FIG. 1). Other related parts include parts necessary for operation, specifically, a speed controller that adjusts the speed, a sensor that detects the piston position, and a solenoid valve that switches the direction of air.

The main air cylinder 300 of the present embodiment is configured to extend in the axial direction as shown in FIG. Thereby, since the main air cylinder 300 expands and contracts in the axial direction, the bulk of the apparatus in the radial direction can be reduced.
In the main air cylinder 300 of the present embodiment, the piston portion 310 is constituted by the large diameter portion 211 of the shaft housing portion 210. On the other hand, the cylinder part 320 includes a small-diameter part 212 of the shaft housing part 210 and a sliding ring 226 slidably provided on the large-diameter part 211.

  The small-diameter portion 212 is formed with a communication hole that communicates the hollow space of the sliding ring 226 with the internal space of the shaft housing portion 210. As the air enters and exits through the communication hole, the volume of the lightening space is changed, and the sliding ring 226 slides in the axial direction. Thus, the main air cylinder 300 expands and contracts in the axial direction by the relative position of the piston portion 310 and the cylinder portion 320 being displaced. Such expansion and contraction of the main air cylinder 300 operates the main alignment portion 400 connected to the sliding ring 226 as will be described in detail later.

[Main tone core and wheel]
As shown in FIG. 3, the main alignment portion 400 is connected to a connecting member 220 (support shaft portions 221, 222, 223, 224) constituting the main shaft portion 200. Then, as shown in FIG. 4, the main alignment portion 400 is provided so as to protrude in the radial direction around the axis of the main shaft portion 200, that is, in the radial direction of the tube. A wheel 500 that travels in contact with the inner wall of the pipe is provided at the tip of the main aligning portion 400. In the present embodiment, the main alignment part 400 is configured so that six wheels 500 are provided at equal intervals around the axis.

  As shown in FIG. 3, the main alignment portion 400 includes a main alignment arm 411 and a link arm 412 configured with a length shorter than the main alignment arm 411. These, together with the connecting member 220 and the main air cylinder 300, constitute a link mechanism that links the expansion / contraction operation of the main air cylinder 300 with the expansion / contraction operation of the main alignment portion 400.

  The main alignment arm 411 physically defines the distance from the main shaft portion 200 of the wheel 500 provided at the tip thereof. The base end portion of the main alignment arm 411 is pivotally attached to the support shaft portion 221 of the fixing ring 225. As a result, the main alignment arm 411 rotates (swings) about the support shaft of the support shaft portion 221 so that the angle θ1 with respect to the axis of the main shaft portion 200 changes. The amount of separation of the wheel 500 from the main shaft portion 200 is changed by the rotation operation. The angle θ1 should not exceed 90 degrees. Furthermore, it may be 60 degrees or less, or 45 degrees or less from the viewpoint of the stability of the leading moving part 111 when the main aligning part 400 has the largest diameter expansion.

  The link arm 412 links the expansion / contraction operation of the main air cylinder 300 with the rotation operation of the main alignment arm 411. The link arm 412 has a distal end rotatably fixed between the distal end of the main alignment arm 411 and a proximal end, and the proximal end of the sliding ring 226 is closer to the advancing direction FW than the fixed position of the distal end. It is pivotally attached to the support shaft part 222. As a result, the link arm 412 can move the proximal end position in the axial direction along with the movement of the sliding ring 226 in the axial direction, and the spindle 200 of the main spindle 200 is centered on the support shaft of the support shaft 222. It can be rotated so that the angle with respect to the axis changes. With this configuration, the link arm 412 moves its sliding base 226 closer to or away from the base end of the main alignment arm 411 in accordance with the movement of the sliding ring 226 caused by the expansion and contraction operation of the main air cylinder 300. The tip of the arm 411 is operated so as to be separated from or close to the main shaft portion 200.

  In the present embodiment, the main alignment unit 400 further includes an auxiliary alignment arm 423 and an auxiliary link arm 424 configured with a length shorter than the auxiliary alignment arm 423. These, like the main alignment arm 411 and the link arm 412, together with the connecting member 220 and the main air cylinder 300 form a link mechanism that links the expansion / contraction operation of the main air cylinder 300 with the expansion / contraction operation of the main alignment portion 400.

  The auxiliary alignment arm 423 has a shorter length than the main alignment arm 411, and physically defines the distance from the main shaft portion 200 of the wheel 500 provided at the tip thereof. The auxiliary centering arm 423 is pivotally attached to the support shaft portion 223 of the fixing ring 225 at the base end portion. As a result, the auxiliary centering arm 423 rotates (swings) around the support shaft of the support shaft portion 223 so that the angle θ2 with respect to the axis of the main shaft portion 200 changes. The amount of separation of the wheel 500 from the main shaft portion 200 is changed by the rotation operation. The amount of separation from the main shaft portion 200 by the auxiliary alignment arm 423 and the amount of separation from the main shaft portion 200 by the main alignment arm 411 are equal (except when the main alignment portion 400 has the smallest diameter). The angle θ2 is designed to be larger than the angle θ1.

  In the present embodiment, the base end of the auxiliary alignment arm 423 is a support shaft portion that is disposed at the same position in the axial direction as the support shaft portion 221 that pivotally attaches to the base end of the main alignment arm 411 in the fixing ring 225. 223 is attached to the shaft. In this way, by making the axial position of the base end of the auxiliary centering arm 423 the same as the base end of the main centering arm 411, the rigid length that the main centering portion 400 occupies in the axial direction, and thus the leading moving portion 111. The rigid length can be minimized.

  The auxiliary link arm 424 links the expansion / contraction operation of the main air cylinder 300 with the rotation operation of the auxiliary alignment arm 423. The auxiliary link arm 424 has a distal end fixed rotatably between the distal end and the base end of the auxiliary alignment arm 423, and the base end is a sliding ring on the advancing direction FW side from the fixed position of the front end portion. 226 is pivotally attached to the support shaft portion 224. As a result, the auxiliary link arm 424 can move the base end position in the axial direction along with the movement of the sliding ring 226 in the axial direction, and the main shaft portion 200 around the support shaft of the support shaft portion 224. It can be rotated so that the angle with respect to the axis of the shaft changes. With this configuration, the auxiliary link arm 424 has its proximal end moved closer to or away from the proximal end of the auxiliary alignment arm 423 in accordance with the movement of the sliding ring 226 caused by the expansion / contraction operation of the main air cylinder 300. The tip of the alignment arm 423 is operated so as to be separated from or close to the main shaft portion 200.

In this embodiment, the base end of the auxiliary link arm 424 is pivotally attached to the sliding ring 226 to which the base end of the link arm 412 is pivotally attached. In this way, by synchronizing the base end of the auxiliary link arm 424 and the base end of the link arm 412 to the same member, the synchronism of the main alignment arm 411 and the auxiliary alignment arm 423 is improved.
In the present embodiment, the auxiliary link arm 424 is operated so that the main alignment arm 411 and the auxiliary alignment arm 423 operate at a desired θ2 in which the distance between the main shaft portion 200 and the wheel 500 is the same. The proximal and distal positions of the are designed. Therefore, the base end of the auxiliary link arm 424 is attached to the support shaft portion 224 provided on the sliding direction BW side of the slide ring 226 with respect to the support shaft portion 222 on which the base end of the link arm 412 is attached. Is done.

  As shown in FIG. 4, three sets of the main alignment arm 411, the link arm 412 and the wheel 500 are provided at equal intervals around the axis of the main shaft portion 200. As a result, both the simplification of the apparatus and the alignment stability by minimizing the number of main alignment arms 411 are achieved. Further, three sets of the auxiliary alignment arm 423, the auxiliary link arm 424 and the wheel 500 are equally spaced around the axis of the main shaft portion 200, and are equally spaced from the set of the main alignment arm 411, the link arm 412 and the wheel 500, respectively. It is provided to become. As a result, both the simplification of the apparatus and the further alignment stability by minimizing the number of auxiliary alignment arms 423 are achieved.

  In the present embodiment, since the main alignment arm 411 and the auxiliary alignment arm 423 provided with the base ends at the same position in the axial direction are configured with different lengths, the wheel 500 provided at each distal end is connected to the pipe. The position (supporting position) for grounding on the inner wall differs in the axial direction. Specifically, as shown in FIGS. 2 and 5, the longer main alignment arm 411 supports the main shaft portion 200 at the support position a, whereas the shorter auxiliary alignment arm 423 is at the support position b. The main shaft portion 200 is supported. As shown in FIG. 5, each of the support positions a and b is stably supported at three equally spaced points (support points) around the axis, and each of the three support points at the support position a. Each of the three support positions at the support position b is alternately arranged at equal intervals around the axis. With this configuration in the present embodiment, the alignment by the main alignment arm 411 is further stabilized by the auxiliary alignment arm 423, so that the leading moving unit 111 is heavier on the traveling direction side than the main alignment unit 400. Despite being there, it can be aligned more stably.

[Taper spacer]
In the present embodiment, the base end of the main aligning arm 411 and the base end of the auxiliary aligning arm 423 in the main aligning portion 400 are in the retraction direction BW side, specifically, the support shaft portions 221 that are respectively attached to the base ends. A taper spacer 230 is provided on the backward direction BW side of the fixing ring 225 having 223. The taper spacer 230 is fitted to the shaft housing portion 210 of the main shaft portion 200, and forms a tapered surface whose outer peripheral diameter gradually decreases in the backward direction BW. With this taper surface, the base end of the main alignment arm 411 (support shaft portion 221 protruding from the fixed ring 225) and the base end of the auxiliary alignment arm 423 (support shaft portion 223 protruding from the fixed ring 225) The level difference from the surface of the flexible portion 113 is leveled (see FIG. 2).

[Hollow shaft motor, ultrasonic probe and acoustic reflector]
As shown in FIG. 2, in the present embodiment, the detection unit 700 and the casing unit 800 that accommodates or holds the detection unit 700 is disposed at the end of the main shaft unit 200 on the traveling direction FW side. The hollow shaft motor 610 includes a rotating hollow rotating member 611 and a non-rotating non-rotating member 612, and the detection unit 700 includes an ultrasonic probe 710 and an acoustic reflection unit 720. As shown in FIG. 6, a probe fixing portion 206 and a casing cover portion 208 are extended on the shaft housing portion 210 of the main shaft portion 200 on the traveling direction FW side. In the present embodiment, the probe fixing portion 206 and the casing cover portion 208 are formed integrally with the shaft housing portion 210.

  As shown in FIGS. 5 and 6, the hollow rotating member 611 has a circular pipe shape with a through hole 615 for securing the hollow portion, and is coaxial with the axis O of the main shaft portion 200 during alignment. Is aligned. The non-rotating member 612 has a substantially square block shape with a through hole corresponding to the outer surface of the hollow rotating member 611, and the hollow rotating member 611 can be rotated by passing the hollow rotating member 611 through the through hole. Go to. Further, fixing screw holes are recessed in the vicinity of the four corners of the substantially square of the non-rotating member 612.

  As shown in FIG. 6, the casing 800 is configured as a casing member that houses the hollow shaft motor 610 and that opens in the retraction direction. The opening portion is closely fitted by the casing cover portion 208. A close fitting portion between the casing portion 800 and the casing cover portion 208 is sealed with a gasket. A through hole 813 and a through hole 209 that are coaxial with the axis O are formed in the housing portion 800 and the casing cover portion 208, respectively. Further, the casing cover portion 208 is provided with a screw hole (not shown) at a position corresponding to a fixing screw hole provided in the non-rotating member 612 of the hollow shaft motor 610. Secure with screws.

  An ultrasonic probe 710 that is coaxial with the axial center O and can be fitted in a probe fixing portion 206 that is integrally provided continuously on the backward direction BW side of the casing cover portion 208 fixed to the non-rotating member 612. A through-hole 207 having a large diameter is formed, and the ultrasonic probe 710 is fixed by fitting the ultrasonic probe 710 into the through-hole 207. Thereby, the ultrasonic probe 710 is fixed to the non-rotating member 612 of the hollow shaft motor 610 via the probe fixing portion 206 and the casing cover portion 208. In this case, as shown in FIG. 6, the ultrasonic wave propagation part 712 of the ultrasonic probe 710 also penetrates through the through hole 209 of the casing cover part 208, and the end on the traveling direction FW side is hollow in the housing part 800. The shaft motor 610 is inserted until it reaches the inside of the through hole 615 (inside the hollow portion). Thereby, the length of the ultrasonic inspection apparatus in the axis O direction can be shortened.

  Note that the probe cable 137 of the ultrasonic probe 710 is wired inside the shaft housing part 210. Further, the casing cover portion 208 and the probe fixing portion 206 are provided with a cable hole 213 through which the inside of the housing portion 800 and the inside of the shaft housing portion 210 communicate with each other, and the motor cable 136 of the hollow shaft motor 610. Is wired from the inside of the housing portion 800 to the inside of the shaft housing portion 210 by being guided in the cable hole 213.

Since the ultrasonic probe 710 fixed as described above is arranged coaxially with the axis O, the ultrasonic wave transmitted from the transmitting unit and propagated in the ultrasonic propagating unit 712 is transmitted to the axis O. It is transmitted in the direction of travel FW so that the axes coincide.
On the other hand, as shown in FIG. 6, an acoustic reflection unit 720 for changing the propagation direction of the transmitted ultrasonic wave is provided on the traveling direction side of the fixed ultrasonic probe 710 in a rotatable manner. . The acoustic reflection unit 720 includes a reflection member 721 and a rotation holder 724 to which the reflection member 721 is attached.

  The rotating holder 724 is a cylindrical member having a large-diameter cylindrical portion 725 on the traveling direction side into which the reflecting member 721 is inserted and a small-diameter cylindrical portion 726 on the retracting direction side fixed to the hollow rotating member 611. As shown in FIG. 6, the rotation holder 724 passes through the through hole 813 of the housing portion 800 and is inserted into the housing portion 800, and the small diameter cylindrical portion 726 is inserted into the through hole 615 of the hollow rotation member 611. Is inserted. In this case, the insertion amount of the rotary holder 724 is such that the locking surface 729 formed at the boundary between the large-diameter cylindrical portion 725 and the small-diameter cylindrical portion 726 contacts and locks the end surface on the traveling direction FW side of the hollow rotating member 611. To be determined. As a result, the end of the small diameter cylindrical portion 726 on the side in the backward direction BW is loosely inserted into the through hole of the casing cover portion 208, and between the endmost surface of the end and the probe fixing portion 206. Causes clearance (for example, a gap of 0.1 mm to 0.5 mm). At the same time, the ultrasonic wave propagation part 712 of the ultrasonic probe 710 is loosely inserted inside the small diameter cylindrical part 726.

  As shown in FIG. 6, the rotation holder 724 is fixed to the hollow rotation member 611 by the small diameter cylindrical portion 726 being fitted into the through hole 615 of the hollow rotation member 611, so that the rotation of the hollow rotation member 611 is performed. It can be rotated integrally with driving.

On the other hand, as shown in FIG. 6, in the loose part between the large-diameter cylindrical portion 725 of the rotary holder 724 and the through hole 813 of the housing unit 800, packing is placed in the packing groove formed on the hole wall of the through hole 813. In the loosely inserted portion between the small diameter cylindrical portion 726 of the rotary holder 724 and the through hole 822 of the casing cover member 820, the packing is fitted in the packing groove 824 formed in the through hole 822. The packing may be any sealing material for rotational movement, and an oil seal is an example.
Further, in the loose insertion portion between the small diameter cylindrical portion 726 and the ultrasonic propagation portion 712 of the rotary holder 724, a clearance (for example, between the inner wall 728 of the small diameter cylindrical portion 726 and the outer surface of the ultrasonic propagation portion 712). , A gap of 0.1 mm to 0.5 mm is generated.

  Thus, by providing the rotation holder 724 so as not to be fixed to a member other than the hollow rotating member 611, the housing portion 800 and the ultrasonic probe 710 can be rotated freely while being rotatable integrally with the hollow rotating member 611. The non-rotating state can be maintained together with the non-rotating member 612 without transmitting the rotational driving of the member 611.

The reflection member 721 that is inserted into and fixed to the open end of the large-diameter cylindrical portion 725 of the rotary holder 724 has an inclined surface 723 that can reflect ultrasonic waves on the backward direction BW side. Specifically, the inclined surface 723 is formed so as to form 45 degrees with respect to the axis O in a side view, and is transmitted from the ultrasonic probe 710 in the direction of the axis O within the large-diameter cylindrical portion 725. The reflected ultrasonic wave is reflected on the axis O and its propagation direction is changed vertically. Note that the material of the reflecting member 721 on the inclined surface 723 has a large acoustic impedance value relative to the acoustic impedance value of the ultrasonic propagation medium (water in this embodiment) from the ultrasonic probe 710. It is comprised from the metal material, resin material, ceramic material, etc. which have a difference.
An exit hole 727 serving as an exit to the outside of the ultrasonic wave whose propagation direction is changed by the inclined surface 723 is provided on a side surface of the large diameter cylindrical portion 725 of the rotary holder 724.

As a result, as indicated by the dotted line in FIG. 2, the ultrasonic wave transmitted from the ultrasonic probe 710 changes its propagation direction at the inclined surface 723 and enters the inner wall surface L of the tube perpendicularly.
Further, when the rotary holder 724 rotates about the axis O by the rotation of the hollow shaft motor 610, the inclined surface 723 of the reflecting member 721 also rotates integrally. Thereby, the incident position can be rotated and moved along the circumferential direction of the tube while maintaining the incident angle to the inner wall surface L of the tube. Therefore, the inner wall surface L of the tube can be scanned evenly in the circumferential direction.

  Further, as shown in FIG. 6, a one-turn sensor 770 is provided inside the housing unit 800. The single rotation sensor 770 includes a position marker 771 fixed to the hollow rotary member 611 and a sensor 772 fixed to the casing cover portion 208. The position marker 771 is detected by a sensor 772 such as a permanent magnet, and rotates together with the hollow rotating member 611. On the other hand, the sensor 772 is a sensor selected according to the characteristics of the position marker 771 such as a Hall element, and the non-rotating state is maintained together with the non-rotating member 612.

  Therefore, the sensor 772 detects when the position of the rotating position marker 771 coincides with the position shown in the figure, thereby detecting the time for one rotation of the hollow rotating member 611. A more detailed position marker position can be derived from the detection timing (period T) of the sensor 772 and the rotation time (<T) of the position marker 771.

[Protection part]
In the present embodiment, the acoustic reflection unit 720 includes a protection unit 722 at the end on the traveling direction FW side. The protection part 722 is formed so that the cross-sectional diameter of the outer surface when it is cut by a plane perpendicular to the axis has an inclined surface that gradually decreases toward the traveling direction FW. The sectional diameter of the end of the inclined surface in the traveling direction FW (the sectional diameter of the outer surface when cut by a plane perpendicular to the axis) is 50% or less, preferably 40% or less of the outer diameter of the rotating holder 724. Alternatively, it may be 30% or less, preferably 15% or less, of the outer diameter of the housing portion 800. The average inclination angle of the inclined surface with respect to the axis may be not less than 30 ° and not more than 50 °. The protection part 722 of this embodiment has a hemispherical shape (the cross-sectional diameter of the inclined surface in the traveling direction FW side is 0, and the average inclination angle is 45 °). By having such an inclined surface, the surface is leveled at the end in the traveling direction FW of the leading moving part 111, and it becomes difficult to get caught on the inner wall of the tube.

[Sub-shaft, sub-air cylinder, sub-alignment and wheel]
A cylindrical auxiliary shaft portion 250, an auxiliary air cylinder 350, an auxiliary alignment portion 450, and a wheel 500 included in the interlocking movement portion 115 of the internal movement portion 110 shown in FIG. 7 are each a leading movement portion 111 (see FIG. 3). Corresponds to the main shaft portion 200, the main air cylinder 300, the main alignment portion 400, and the wheels 500, and functions or operates in the same manner. Hereinafter, after the constituent members of the interlocking moving unit 115, the corresponding constituent members of the leading moving unit 111 that similarly function or operate are shown in square brackets ([]). For example, “sub shaft portion 250 [main shaft portion 200]” means “sub shaft portion 250 corresponding to main shaft portion 200 of head moving portion 111”.

  The cylindrical secondary shaft portion 250 [main shaft portion 200] includes a secondary shaft housing portion 260 [shaft housing portion 210] and a connecting member [connecting member] provided on the outer peripheral surface of the secondary shaft housing portion 260. 220]. The sub shaft portion 250 [main shaft portion 200] is configured in the same manner as the main shaft portion 200 of the leading moving portion 111 except that it has a communication hole communicating with the traveling direction FW side. The sub-shaft housing portion 260 [shaft housing portion 210] has a large-diameter portion 261 [large-diameter portion 211] and a small-diameter portion 262 [small-diameter portion] that also serve as constituent members of a later-described sub-air cylinder 350 [main air cylinder 300]. Part 212].

  The connecting member [connecting member 220] includes a supporting ring portion 271 [supporting shaft portion 221] and a supporting ring portion 273 [supporting shaft portion 223] protruding from a fixing ring 275 [fixing ring 225], and a supporting shaft portion. 272 [support shaft portion 222] and a slide ring 276 [slide ring 226] provided with a support shaft portion 274 [support shaft portion 224].

  The sub air cylinder 350 [main air cylinder 300] includes a piston part 360 [piston part 310] and a cylinder part 370 [cylinder part 320], and the piston part 360 [piston part 310] has a large diameter part 261 [large diameter]. Part 211], and the cylinder part 370 [cylinder part 320] is constituted by a small diameter part 262 [small diameter part 212] and a sliding ring 276 [sliding ring 226].

The sub-alignment section 450 [main alignment section 400] includes a sub-alignment arm 451 [main alignment arm 411] and a link arm 452 [link arm 412]. A wheel 500 is provided at the tip of the sub-alignment arm 451 [main alignment arm 411]. The sub-alignment unit 450 [main alignment unit 400] further includes an auxiliary alignment arm 473 [auxiliary alignment arm 423] and an auxiliary link arm 474 [auxiliary link arm 424].
A taper spacer 240 [taper spacer 230] is provided on the backward direction BW side of the base end of the sub-alignment arm 451 [main alignment arm 411].

The sub aligning portion 450 is configured in the same manner as the main aligning portion 400 on the retreat direction BW side of the main aligning portion 400, so that the longer sub aligning arm 451 is in the support position of c as shown in FIG. In contrast to supporting the countershaft portion 250, the shorter auxiliary alignment arm 473 supports the subshaft portion 250 at the support position d. As shown in FIG. 5, each of the support positions is stably supported at three equally spaced points (support points) around the axis, and each of the three support points at the support position of c and the support of d The three support positions are alternately arranged at equal intervals around the axis.
In addition to the support positions of a and b by the main alignment part 400, the internal movement part 110 is supported at the support positions of c and d by the sub-alignment part 450, whereby the internal movement part 110 is aligned more stably. .

[Flexible part]
As shown in FIG. 2, the flexible part 113 is a coil spring extending along the axis. The end of the flexible portion 113 on the traveling direction FW side is connected to the main shaft portion 200 of the leading moving portion 111, and the backward direction BW side is connected to the auxiliary shaft portion 250 of the interlocking moving portion 115. At the winding center of the coil spring constituting the flexible portion 113, both the cylinder portion 320 constituting the main air cylinder 300 of the leading moving portion 111 and the cylinder portion 370 constituting the sub air cylinder 350 of the interlocking moving portion 115 are provided. A communicating cable 130 is disposed.
The physical properties of the coil spring constituting the flexible portion 113 will be described later.

[Scale operation]
When compressed air is supplied from the air supply source in the expansion / contraction control unit 121 (see FIG. 1) to the shaft housing unit 210 through the cable 130, as shown in FIG. The air supply flows from the formed communication hole into the cylinder portion 320 of the main air cylinder 300 as indicated by an arrow FL in the drawing. As a result, the main air cylinder 300 extends in the direction of arrow E in the figure. At this time, the sliding ring 226 slides in the direction of arrow E, so that the link arm 412 and the auxiliary link arm 424 swing the main alignment arm 411 and the auxiliary alignment arm 423, respectively, and the main shaft portion 200 (the shaft housing portion 210). ). As a result, the diameter of the main aligning portion 400 is increased in the radial direction about the axis as shown in FIG. When the wheel 500 provided at the tip of the main alignment arm 411 and the auxiliary alignment arm 423 contacts the inner wall surface L of the pipe, the leading moving portion 111 is aligned.

  When air is extracted from the shaft housing part 210 through the cable 130, as shown in FIG. 8, the arrow in the figure moves from the cylinder part 320 of the main air cylinder 300 into the shaft housing part 210 through the communication hole of the small diameter part 212. Air is discharged as shown at FL. As a result, the main air cylinder 300 contracts in the direction of arrow C in the figure. At this time, when the sliding ring 226 slides in the direction of arrow C, the link arm 412 and the auxiliary link arm 424 swing the main alignment arm 411 and the auxiliary alignment arm 423, respectively, and the main shaft portion 200 (the shaft housing portion 210). ). As a result, the main aligning portion 400 is reduced in diameter.

  When the main aligning portion 400 has the smallest diameter reduction, as shown in FIG. 9, the main aligning arm 411 and the auxiliary aligning arm 423 are brought closest to the main shaft portion 200 (shaft housing portion 210). In the present embodiment, the overall size of the main alignment portion 400 including the wheel 500 is approximately the radial size of the housing portion 800 (see FIG. 8, and the imaginary line of the housing portion 800 is indicated by a broken line in FIG. 9). It is within the limit. Since the casing 800 has the largest diameter among the parts constituting the internal moving part 110 (see FIG. 2) whose size in the radial direction does not change, the main alignment part 400 is thus reduced in diameter. Thus, any narrow portion can be passed as long as the housing portion 800 can pass therethrough.

  When the inner peripheral diameter of the pipe changes during traveling in the main pipe, the diameter of the main alignment portion 400 is increased and reduced while maintaining the state where the wheel 500 is in contact with the inner wall surface L of the pipe. However, the alignment state of the head moving unit 111 can be maintained. In the present embodiment, the main aligning portion 400 always expands and contracts while maintaining a positional relationship in which the leading ends of the main aligning arm 411 and the auxiliary aligning arm 423 are closer to the traveling direction FW than their base ends.

  The sub-alignment portion 450 is also enlarged / reduced by the same mechanism as that of the main alignment portion 400.

[Entry into pipe]
FIG. 10 is a simplified representation of the internal movement unit 110 of the ultrasonic inspection apparatus of the present embodiment. FIG. 11 to FIG. 13 are diagrams for explaining the process of causing the ultrasonic inspection apparatus according to the present embodiment to enter the main pipe from the branch pipe.

  As shown in FIG. 11, the tube 900 into which the ultrasonic inspection apparatus of the present invention enters includes a branch tube 910 and a main tube 920. The branch pipe 910 is a narrow pipe branched from the main pipe 920. For example, the branch pipe 910 has an inner diameter of about 75 mm. The size of the main pipe 920 is not particularly limited, and examples thereof include an inner diameter of about 100 mm to 300 mm.

  In addition, as the pipe | tube 900, piping, such as a waterworks, a sewer, an industrial water supply, and an agricultural water supply, is mentioned. Usually, the pipe 900 is buried in the ground. The pipe 900 may have a multilayer structure as shown in FIGS. 2 and 5. Specifically, the pipe 900 may be a lining pipe in which a cement-containing layer is lined on the inner wall surface of a metal pipe. When running the ultrasonic inspection apparatus of the present invention, the inside of the tube 900 is filled with water.

  As shown in FIG. 11, an entry jig 950 can be used when the ultrasonic inspection apparatus of the present invention is entered into a tube 900. The entry jig 950 includes a straight portion 951 and a direction guide portion 952. In the entry jig 950 shown in FIG. 11, the straight portion 951 is formed of a rigid plate member, and the direction guide portion 952 is formed of a flexible plate member. The direction guide portion 952 projects obliquely from the surface of the straight portion 951 toward the one end portion on the one end portion side of the straight portion 951.

  The entry jig 950 is inserted in advance from the branch pipe 910 along the inner wall surface thereof and reaches the bottom wall of the main pipe 920. In this embodiment, since the maximum separation distance between the direction guide portion 952 and the straight portion 951 is larger than the inner diameter of the branch pipe 910, the direction guide portion 952 can be inserted after being bent toward the straight portion 951. . Thereafter, the internal moving part 110 of the ultrasonic inspection apparatus is caused to enter the tube 900.

  As shown in FIG. 11, the internal moving part 110 is in a state where both the main aligning part 400 and the sub aligning part 450 have the smallest diameter reduction, and the inner moving part 110 enters the branch pipe 910 from the leading moving part 111. When the entry is further advanced, the head moving unit 111 comes into contact with the direction guide unit 952. Of the constituent members of the ultrasonic inspection apparatus, the member that first contacts the direction guide portion 952 differs depending on the aspect of the direction guide portion 952 and the aspect of the ultrasonic inspection apparatus, but is arranged on the most traveling direction side as in this embodiment. The provided protective part 722 may contact first. Since the protection part 722 itself is configured to have an inclined surface, the acoustic reflection part 720 is hardly caught by the inclined surface of the direction guide part 952 even though the acoustic reflection part 720 protrudes in the traveling direction. The direction change is easily performed by the contact between the inclined surface and the inclined surface of the direction guide portion 952.

  As shown in FIG. 12, the leading moving portion 111 is guided from the axial direction of the branch pipe 910 toward the axial direction of the main pipe 920 by the inclined surface of the direction guide portion 952. As the progress proceeds, the flexible portion 113 bends and the direction of the leading moving portion 111 changes with respect to the direction of the interlocking moving portion 115. When the flexible portion 113 is bent, the leading moving portion 111 enters the main pipe 920 from the branch pipe 910 even though the rigid length SL1 (see FIG. 10) is extended by the acoustic reflector 720 or the like. Becomes easy.

As shown in FIG. 13, the interlocking moving unit 115 enters the branch pipe 910 by further proceeding. Immediately before the interlocking movement part 115 changes its direction inside the pipe, the bending amount of the flexible part 113 can be the largest. The flexible portion 113 may be configured such that at least the bending radius when it should be bent in the tube is the minimum bending radius R (mm).
The minimum bending radius R can vary depending on the inner diameter r (mm) of the main pipe 920. Specifically, the following relationship may be satisfied.
R ≦ 1.34r + 124

  The flexible portion 113 may have a minimum bending radius R that is smaller than the bending radius when it should be bent most in the pipe. Specifically, it is only necessary to have a minimum bending radius R of 25 mm or more. By securing a minimum bending radius of 25 mm or more of the flexible part, a certain degree of rigidity is ensured, so that the internal moving part 110 is prevented from undesirably folding at the flexible part 113 and a stable posture is maintained. be able to.

  The spring constant of the coil spring constituting the flexible portion 113 may be 0.3 N / mm or more and 25 N / mm or less, preferably 0.5 N / mm or more and 15 N / mm. When the spring constant is equal to or greater than the above lower limit value, moderate rigidity is ensured, the posture of the internal moving part 110 is more stably maintained, and the waist break at the flexible part 113 is well prevented during movement by pushing in. can do. When the spring constant is less than or equal to the above upper limit value, moderate flexibility is ensured, and the internal moving part 110 can easily pass between the branch pipe 910 and the main pipe 920 when entering the pipe. .

  The length FL (see FIG. 10) of the flexible portion 113 may be 40 mm or less, preferably 70 mm or more. Accordingly, the internal moving unit 110 can easily pass between the branch pipe 910 and the main pipe 920 when entering the pipe.

Further, the length FL of the flexible portion 113 may be 500 mm or less, preferably 250 mm or less. As a result, the posture of the internal movement unit 110 can be more stably maintained, and the flexion of the flexible portion 113 can be satisfactorily prevented during movement by pushing.
In the present embodiment, since the flexible portion 113 is constituted by a coil spring, the length FL corresponds to a free length when no load is applied.

[Alignment operation]
FIGS. 14 to 16 are diagrams for explaining the alignment process in the main pipe of the ultrasonic inspection apparatus according to the present embodiment.
In the present embodiment, the cable 130 is connected between the leading moving part 111 and the interlocking moving part 115, the main air cylinder 300 (see the cylinder part 320, see FIG. 3) and the sub air cylinder 350 (see the cylinder part 370, see FIG. 7). In addition, the auxiliary air cylinder 350 communicates with an air supply source in the expansion / contraction control unit 121 (see FIG. 1) outside the pipe on the retreat direction BW side. For this reason, as shown in FIG. 14, the compressed air is supplied from the backward direction BW side to the traveling direction FW side to the internal moving part 110 inserted into the main pipe.

  As a result, as shown in FIG. 15, it is easy to make the timing of diameter expansion of the sub-alignment portion 450 earlier than the timing of diameter expansion of the main alignment portion 400. Since the leading moving part 111 is equipped with an acoustic reflecting part, a hollow shaft motor, and the like, the weight is larger than that of the interlocking moving part 115 in this embodiment. Therefore, by adjusting the timing of diameter expansion of the sub-alignment portion 450, alignment of the leading moving portion 111 shown in FIG. 16 can be performed more smoothly.

[Exit from tube]
FIG. 17 is a diagram for explaining a process of allowing the ultrasonic inspection apparatus according to the present embodiment to exit from the main pipe to the outside of the pipe through the branch pipe.
When the internal moving unit 110 of the ultrasonic inspection apparatus is to be moved out of the tube, the cable 130 is pulled in the backward direction BW. When the internal moving part 110 reaches the branch part between the main pipe 920 and the branch pipe 910, the main aligning part 400 and the sub aligning part 450 are reduced in diameter and minimized as shown in FIG. Further, the cable 130 is pulled to pull out the internal moving unit 110.

  In the ultrasonic inspection apparatus of the present invention, in the main aligning portion 400 of the leading moving portion 111 having a longer rigid length SL1 (see FIG. 10), the base ends of the main aligning arm and the auxiliary aligning arm are on the retreat direction side, and the distal end is advanced. It is comprised so that it may become a direction side. Accordingly, as shown in FIG. 17, when the posture for changing the direction from the main pipe 920 to the branch pipe 910 is taken, the reduced diameter state can be kept stable even if the main alignment portion 400 contacts the inner wall of the pipe. . Therefore, the alignment mechanism does not open and is caught on the inner wall of the pipe, and it is easy to move out of the pipe.

  Further, in the present embodiment, as shown in FIG. 3, the main alignment arm 411 and the auxiliary alignment arm 423 have a slightly refracted shape so as to protrude in the direction away from the main shaft portion 200. When the main aligning portion 400 has the smallest diameter, the main aligning arm 411 and the auxiliary aligning arm 423 have a smaller radial volume on the retreat direction side than on the advancing direction side. Accordingly, as shown in FIG. 17, when the posture for changing the direction from the main pipe 920 to the branch pipe 910 is taken, the main alignment portion 400 is less likely to be caught and the exit to the outside of the pipe becomes easier.

  Further, in the present embodiment, the leading moving portion 111 having a longer rigid length SL1 (see FIG. 10) is provided with a taper spacer 230 at the end in the retraction direction. For this reason, the main pipe 920 as shown in FIG. When the posture to change the direction from the branch pipe 910 to the branch pipe 910 is taken, the end of the leading moving portion 111 (the base end of the main alignment arm and the auxiliary alignment arm) on the inner wall is inclined by the inclined surface of the taper spacer 230. It is hard to get caught. Therefore, the head moving unit 111 can be smoothly moved out of the tube.

  In the present embodiment, the sub-alignment arm 451 and the taper spacer 240 of the interlocking movement unit 115 are configured to have the same shape and the same size as the main alignment arm 411 and the taper spacer 230 of the leading movement part 111. The part 115 can be smoothly moved out of the tube.

  Note that the bending of the flexible portion 113 makes it easy for the leading moving portion 111 to move out of the tube as in the case of entering the tube (see FIGS. 11 to 13).

[Other Embodiments (Internal Movement Unit)]
18 to 23 are diagrams simply showing an ultrasonic inspection apparatus (internal moving unit) according to another embodiment. FIG. 24 is a partial external side view of an ultrasonic inspection apparatus (internal movement unit) according to another embodiment. About these other embodiment, a different point from 1st Embodiment is mainly described.

[Internal moving part 110a]
The internal moving unit 110a of the ultrasonic inspection apparatus shown in FIG. 18 is between the base end of the main alignment arm 411 and the base end of the link arm 412, and the base end of the auxiliary alignment arm 423 and the auxiliary link arm 424. There is provided an auxiliary spring 301a that winds around the outer periphery of the exposed portion of the small-diameter portion 212, that is, a portion that is also between the proximal ends. The auxiliary spring 301a helps the air cylinder 300a expand and contract by its expansion and contraction.
Similarly, the same applies to a place between the base end of the sub-alignment arm 451 and the base end of the link arm 452 and also between the base end of the auxiliary alignment arm 473 and the base end of the auxiliary link arm 474. Auxiliary spring 305a is provided. The auxiliary spring 305a helps the air cylinder 350a expand and contract by its expansion and contraction.

[Internal moving part 110b]
In the internal movement part 110b of the ultrasonic inspection apparatus shown in FIG. 19, the interlocking movement part 115b is reverse in the advancing / retreating direction (except for the taper spacer 240) with respect to the interlocking movement part 115 of the internal movement part 110 of the first embodiment. It is configured as follows. Since the interlocking movement part 115b has a short rigid length SL5 (see FIG. 10), the present invention allows such an aspect.

[Internal moving part 110c]
The internal moving part 110c of the ultrasonic inspection apparatus shown in FIG. 20 is the same as the internal moving part 110 of the first embodiment, except that the interlocking moving part 115c does not have the taper spacer 240. Since the interlocking movement part 115c has a short rigid length SL5 (see FIG. 10), the present invention allows such an aspect.
Furthermore, in the present invention, since the main alignment portion 400 has a configuration suitable for exiting from the tube, a modification in which the taper spacer 230 of the leading moving portion 111 is further excluded is allowed.

[Internal moving part 110d]
The internal movement unit 110d of the ultrasonic inspection apparatus shown in FIG. 21 is the first embodiment except that the main alignment unit 400d and the auxiliary alignment unit 450d do not have the auxiliary alignment arm 423 and the auxiliary alignment arm 473, respectively. It is the same as that of the internal movement part 110. The number of main alignment arms 411 and sub-alignment arms 451 may be three, respectively, but may be more than that (for example, four, six, etc.).

[Internal moving part 110e]
The internal movement unit 110e of the ultrasonic inspection apparatus shown in FIG. 22 is configured such that, in the main alignment unit 400e, the base ends of the link arm 412e and the auxiliary link arm 424e are closer to the retreat direction side than the distal end. In 450e, the base ends of the link arm 452e and the auxiliary link arm 474e are configured to be closer to the retracting direction than the distal end.

[Internal moving part 110f]
The internal moving part 110f of the ultrasonic inspection apparatus shown in FIG. 23 is provided such that the main air cylinder 300f and the sub air cylinder 350f expand and contract in the radial direction. In this case, the taper spacers 230f and 240f are configured to have a maximum outer diameter corresponding to the protruding amount of the main air cylinder 300f and the sub air cylinder 350f.

[Internal moving part 110g]
The internal movement unit 110g of the ultrasonic inspection apparatus illustrated in FIG. 24 is provided with a relay unit 117g on the retreat direction side of the interlocking movement unit 115 via a flexible portion 116g. The relay part 117g relays the cable 130 and its accommodation in the parts on the traveling direction side from the relay part 117g to the cable 130 and its accommodation on the backward direction side from the relay part 117g. The relay portion 117g may be configured such that the cable 130 on the traveling direction side and its accommodation and the cable 130 on the regression direction side and its accommodation can be connected and disconnected. Thereby, the parts on the traveling direction side can be attached and detached. Therefore, various internal moving parts such as an internal moving part having a centering part having a size corresponding to the inner diameter of the main pipe to be introduced can be replaced without changing the external operation part.

  An air phase may be provided inside the relay unit 117g. As a result, the internal moving part 110g relaying part 117g that moves in the water also serves as a float, so that the alignment action as described for example in FIG. can do.

  The relay part 117g may be composed of a rigid member. In this case, the rigid length of the relay portion 117g is preferably configured to be approximately the same as or shorter than the rigid length SL5 (see FIG. 10) of the interlocking movement portion 115.

  Similar to the flexible portion 113, the flexible portion 116g is a cable that communicates with both the cylinder portion 370 (see FIG. 7) constituting the sub air cylinder 350 of the interlocking movement portion 115 at the winding center and the inside of the relay portion 117g. 130 is accommodated. The flexible portion 113g is configured to ensure a certain degree of rigidity to such an extent that the alignment ability of the leading moving portion 111 and the interlocking moving portion 115 is not impaired, whereas the flexible portion 116g is more flexible than the flexible portion 113. You may be comprised so that it may deform | transform easily. Further, the spring constant of the coil spring constituting the flexible portion 116g may be 80% or less, preferably 60% or less of the spring constant of the coil spring constituting the flexible portion 113. Thereby, the alignment of the leading moving unit 111 and the interlocking moving unit 115 can be more stably maintained while the internal moving unit 110g is moving (particularly during movement by pushing).

[cable]
FIG. 25 is a schematic diagram illustrating a more specific aspect when the ultrasonic inspection apparatus according to the first embodiment is used. FIG. 26 is a schematic diagram illustrating the straightness of the cable of the ultrasonic inspection apparatus according to the first embodiment.
As shown in FIG. 25, the cable 130 has a property of being straight in the main pipe 920 (straightness). In the present invention, as shown in FIG. 26, the straight traveling property of the cable connects the axial center on one end side and the axial center on the other end side of the cable 130 when the cable 130 alone is placed in a neutral buoyancy state. When the distance from the virtual straight line VL and the outer surface of the virtual straight line VL to the outer surface of the portion where the axis of the cable 130 is greatly shaken (that is, the portion where the shake from the virtual curve VL is maximum and maximum) is d, the distance d is This means that the outer radius of the cable 130 is substantially one time. (That is, d is extremely exaggerated for explanation in FIG. 26.) More specifically, the distance d is 1 to 5 times, preferably 1 to 3 times the outer radius of the cable 130. Doubles are allowed, most preferably 1 times. Accordingly, when the internal moving unit 110 is pushed in the traveling direction by the cable 130, the pushing force is easily transmitted without being shaken, and thus the pushing operability of the internal moving unit 110 is improved. It is also possible to prevent the cable 130 from bending in the main pipe 920 and coming into contact with the inner wall. Note that because of such straight advanceability, the winding of the cable 130 outside the tube 900 can be internally wound on the inner peripheral surface of the winding drum.

Furthermore, the cable 130, 300 kN · mm ² or more 12,000kN · mm ² or less, preferably 500 kN · mm ² or more 5,000kN · mm ² or less, more preferably 500 kN · mm ² or more 3,800kN · mm ² or less of Has bending rigidity. When the bending rigidity is equal to or higher than the lower limit value, the straight advanceability can be stabilized, so that favorable pushability is ensured. When the bending rigidity is equal to or less than the above upper limit value, winding at the reel portion RL outside the tube 900 is also easy. In addition, when entering and exiting via the branch pipe 910 as in the present embodiment, it can be easily bent from the traveling direction of the branch pipe 910 to the traveling direction of the main pipe 920. The bending rigidity is a measured value obtained in accordance with JIS K 7203.

  The total length of the cable 130 (here, the total length does not include the length of the portion penetrating the internal moving part 110 itself) is, for example, 20 m or more and 200 m or less, preferably 40 m or more and 100 m or less. When the total length is not less than the above lower limit value, it is highly useful from the viewpoint of the effect of the present invention (good indentation operability) brought about by the above straightness and bending rigidity, and good by being not more than the above upper limit value. Easy push-in operability. In the present embodiment, the total length of the cable 130 is 60 m.

FIG. 27 is a schematic partially cutaway view of a cable of the ultrasonic inspection apparatus according to the first embodiment. FIG. 28 is a schematic cross-sectional view of a cable of the ultrasonic inspection apparatus according to the first embodiment.
As shown in FIG. 27, an electric cable 132 (details of the cross section of the electric cable 132 are omitted) and a core member 139 are accommodated in the air tube 131. As shown in FIG. 28, a gas phase GP is provided between the inner wall of the air tube 131 and the electric cable 132 and the core material 139. Hereinafter, each element will be described in detail.

[Air tube]
The air tube 131 constitutes a sheath portion of the cable 130. The air tube 131 includes a main air cylinder 300 (see FIG. 3) and a sub air cylinder 350 (see FIG. 7) of the internal movement unit 110 and an expansion / contraction control unit 121 of the external operation unit 120 (see FIG. 1 and not shown in FIG. 25). The air supply part which comprises is connected. A gas may be pressed into the air tube 131. Thus, the gas phase GP (see FIG. 28) is composed of a gas having a pressure equal to or higher than the pressure received by the air tube 131 from the outside (that is, the internal pressure of the main pipe 920). Thereby, the gas phase GP having a desired volume can be favorably maintained without causing pressure loss of the air tube 131.

  The thickness of the air tube 131 may be, for example, not less than 1.8 mm and not more than 4.0 mm, preferably not less than 2.0 mm and not more than 3.0 mm. It is preferable that the wall thickness is equal to or greater than the above lower limit value in terms of easy prevention of pressure loss due to external pressure, and that the wall thickness is equal to or less than the above upper limit value ensures the above bending rigidity (a certain degree of bending). It is preferable in that it is easy to make it easy to achieve both the above-mentioned bending rigidity (a certain degree of rigidity) and sufficient gas phase GP.

  In the present embodiment, the air tube 131 alone may not have the straightness as described above. Therefore, a general-purpose tube can be used as the air tube 131. Such a general-purpose tube may be a tube that is wound at the time of shipment and already has a curl.

The flexural rigidity of the air tube 131 of the present embodiment may be smaller than the bending stiffness of the cable 130 itself, for example, 300 kN · mm ² or more 5000kN · mm ² or less, preferably an at 1000 kN · mm ² or more 2000 kN · mm ² or less Good. By setting the bending rigidity of the air tube 131 in such a range, the desired bending rigidity of the cable 130 as a whole can be easily expressed in combination with the bending rigidity of the core member 139 described later.

  The cable 130 is in a neutral buoyancy state in the main pipe 920 as described above, but can come into contact with the inner wall at the branch portion of the pipe 900 when entering and exiting the pipe 900 through the branch pipe 910. For this reason, it is preferable that the air tube 131 which comprises the outermost periphery part of the cable 130 is comprised so that the frictional resistance of an outer peripheral surface may become small. Thereby, the bad influence to the water quality in the pipe | tube 900 can be suppressed.

  In addition, since the cable 130 has the gas phase GP inside, especially when the cable 130 is wound around the reel portion RL and the cable 130 is unwound from the reel portion RL, the accommodated electric cable 132 and the core material 139 are It contacts the inner peripheral wall of the air tube 131. For this reason, it is preferable that the air tube 131 is configured so that the frictional resistance of the inner peripheral surface is also reduced.

From the above viewpoint, the preferable coefficient of friction is 0.3 or less, more preferably 0.25 or less. The smaller the friction coefficient, the better. The lower limit value included in the range of the friction coefficient is not particularly limited, but may be 0.04 or 0.06 depending on the material.
More specifically, the air tube 131 can be made of, for example, a material selected from a fluororesin (perfluoroalkoxy fluororesin (PFA), polytetrafluoroethylene (PTFE)) and polyethylene.

[Electric cable]
The electric cable 132 is connected to at least the hollow shaft motor 610. In the present embodiment, the electric cables C1, C2, and C3 are illustrated as the electric cables 132. However, the type of the electric cables is arbitrary, and the number of the electric cables is also arbitrary as long as an appropriate volume of the gas phase GP is secured. . Therefore, in addition to the electrical cable 136 (see FIG. 6) connected to the hollow shaft motor 610, the electrical cable 132 may include any electrical cable involved in the electrical system depending on the configuration of the internal moving unit 110. . For example, it is connected to an electrical cable 137 (see FIG. 6) connected to the ultrasonic probe 710, an electrical cable connected to the one-turn sensor 770 (see FIG. 6), and other components (not shown) such as a camera. An electrical cable may be included. The electric cable 132 is preferably a power line communication cable (PLC), but a separate communication cable may be accommodated in the air tube 131.

  The electric cable 132 only needs to be connected so that the external shaft 120 can be electrically controlled by the external operation unit 120. For example, the type and number of electrical cables may change in the relay unit 117g (see FIG. 24).

In the present invention, as described above, since the cable 130 is in a neutral buoyancy state in the main pipe 920, a tensile strength cable for facilitating a pulling operation from the main pipe 920 is not necessarily required. However, the present invention also allows the tensile cable to be further accommodated in the air tube 131.
Since the plurality of electric cables are independent without being constrained to each other, the relative positions of the air tube 131 in the axial direction and the rotational direction can be freely changed. However, the present invention also allows a plurality of electrical cables to be tied together.

  Even if the surface of the electric cable 132 is covered with a foam for protection or the like, none of the plurality of bubbles present in the foam corresponds to the gas phase GP of the present invention. Position it as a thing.

[Core]
The core material 139 provides straightness to the entire cable 130. Therefore, the core material 139 itself has straightness. The straightness of the core material 139 itself is similar to the straightness of the cable 130 itself.

Thus, the bending rigidity of the core material 139 is similar to the bending stiffness of the cable 130, for example 300 kN · mm ² or more 12000kN · mm ² or less, preferably 500 kN · mm ² or more 5,000kN · mm ² or less, more preferably It may be 500 kN · mm ² or more and 3800 kN · mm ² or less. By setting the bending rigidity of the core material 139 within such a range, the bending rigidity of the air tube 131 described above is combined with the above-described bending rigidity of the air tube 131 so that the desired bending rigidity can be easily exhibited as the entire cable 130.

The core material 139 can be made of a material such as a rod-like fiber reinforced resin (for example, glass fiber reinforced resin), a shape memory alloy wire (or a shape memory alloy wire covered with a resin layer), and the like.
The outer diameter of the core member 139 is particularly limited as long as a desired gas phase GP is secured in the internal space of the air tube 131 in relation to the volume occupied by other cables while ensuring the desired bending rigidity. It can be determined appropriately by those skilled in the art. For example, the outer diameter is 4 mm or more and 11 mm or less, and 6.5 mm in this embodiment. The total length of the core material 139 may be the same as the total length of the cable 130 described above.

  The core material 139 has a Ra / Rc ratio of 1 to 5, preferably 1.1 to 4.5, more preferably 1 when the inner diameter of the air tube 131 is Ra and the outer diameter of the core material is Rc. .8 or more and 3.8 or less. It is preferable that the Ra / Rc ratio is equal to or higher than the lower limit in terms of sufficiently securing the gas phase GP in the air tube 131, and that it is equal to or lower than the upper limit is easy to ensure straightness as the entire cable 130. This is preferable.

At least one end of the core material 139 is not fixed. That is, either one end may be fixed, or both ends may not be fixed. Therefore, the core material 139 can freely change the relative position in the axial direction and the rotational direction in the air tube 131. Accordingly, any of the core material 139 is placed on the inner peripheral wall surface of the air tube 131 in any of the winding operation on the reel portion RL, the stationary state in the winding state, and the unwinding operation from the reel portion RL. The surface is also hardly pulled, and an undesired load (particularly a load in the twisting direction) is hardly applied between the air tube 131 and the core member 139. Accordingly, winding of the cable 130 around the reel portion RL and unwinding of the cable 130 from the reel portion RL are facilitated, and static fatigue when left standing in the wound state is small.
By fixing the other end of the core member 139, the core member 139 can be stably accommodated in the air tube 131 while maintaining the above effects. In this case, the fixing part of the other end of the core member 139 is arbitrary, and may be fixed to at least one of the air tube 131, the electric cable 132, and the internal moving unit 110.

[Gas phase]
By providing the gas phase GP, the cable 130 as a whole is in a neutral buoyancy state so that the specific gravity is substantially 1. Specifically, the amount of the gas phase GP to be secured is the amount of the gas phase GP with respect to the cross section of the internal space of the air tube 131 when cut in the cross section in the axial direction of the air tube 131 as shown in FIG. The ratio of the cross-sectional area is 20% to 95%, preferably 35% to 70%. When the ratio of the cross-sectional area of the gas phase GP is equal to or more than the lower limit value, as shown in FIG. 25, the cable 130 is easily floated in the main pipe 920, and the surface of the cable 130 is formed below the inner wall of the main pipe 920. It becomes difficult to touch. When the ratio of the cross-sectional area of the gas phase GP is equal to or less than the upper limit value, the surface of the cable 130 is less likely to contact the upper part of the inner wall of the main pipe 920. The ratio of the gas phase GP is a ratio when the cable 130 is in the air (that is, the internal pressure and the external pressure of the cable 130 are both 1 atm).

[Push-in travel]
When the cable 130 is configured as described above, the internal moving unit 110 of the ultrasonic inspection apparatus of the present invention can obtain good push-in operability. That is, after the internal moving part 110 is entered from the branch pipe 910 into the main pipe 920, the cable 130 is further fed out from the reel part RL and pushed into the inside from the branch pipe 910, thereby moving the internal moving part 110 to the traveling direction side. It can be easily advanced by pushing.

  For this reason, it is preferable that the distance between the branch pipe 910 (repair valve) of the pipe 900 and the other branch pipe (repair valve) closest to the branch pipe 910 (repair valve) is relatively long. For example, the distance is 50 m or more and 600 m or less, preferably 100 m or more and 300 m or less. When the total length is equal to or greater than the above lower limit value, the utility of the present invention (good push-in operability) brought about by the use of the cable 130 is high, and when the total length is equal to or less than the above upper limit value, a good push-in operation is achieved. Easy to maintain sex. In this embodiment, the distance between the branch pipes (repair valves) is 300 m.

  Further, another pipe line (described as another main pipe 920 in FIG. 25) connected to the main pipe 920 from which the branch pipe 910 that has entered is branched has a large diameter and has another branch pipe from the middle. Even if it is, it is not necessary to cut off the branch pipe. The traveling direction of the internal moving part 110 can be kept straight by the cable 130, and the internal moving part 110 can be prevented from being caught by the branch portion of the other branch pipe.

  By the ultrasonic inspection apparatus of the present invention, since the cable 130 is difficult to contact the inner wall of the pipe 900, the inner wall can be positively applied to the pipe 900 made of a material that is likely to cause water pollution such as rust. it can. Examples of the material include steel and cast iron (bronze cast, brass cast, gray cast iron, ductile cast iron, malleable cast iron, etc.).

  The pipe 900 may be a pressure pipe. In this case, an opening of the branch pipe 910 (repair valve) is closed, and an insertion port through which the cable 130 passes is provided in the lid. A packing is watertightly attached to the insertion port. The cable 130 can slide through the through hole in a state where the cable 130 penetrates the packing and the packing surrounds the through hole in a watertight manner. Thereby, the internal moving part 110 can be advanced in the main pipe 920 without opening the opening of the branch pipe 910.

[Other embodiments (cable)]
FIG. 29 and FIG. 30 are schematic cross-sectional views of cables of an ultrasonic inspection apparatus according to another embodiment.
A cable 130h shown in FIG. 29 accommodates an electric cable 132h and a core material 139h in an air tube 131. It is the same as that of said embodiment (FIG. 28) except the core material 139h being provided in the aspect which coat | covers the outer peripheral surface of the electric cable C4 among the electric cables 132h.

The cable 130i shown in FIG. 30 is the same as the above-described embodiment (FIG. 28) except that the sheath portion that houses the electric cable 132 is the air tube 131i and the core material is not housed. The air tube 131i has straightness by itself. For this reason, a core material like said embodiment is not required. The straightness of the air tube 131i itself is the same as the straightness of the cable 130 described in the above embodiment. Furthermore, the bending stiffness having an air tube 131i itself, the bending rigidity of the cable 130 itself described in the above embodiment (300 kN · mm ² or more 12,000kN · mm ² or less, 5,000KN · preferably 500 kN · mm ² or more mm ² or less, more preferably 500 kN · mm ² or more and 3,800 kN · mm ² or less).

[Modification]
Hereinafter, modified examples not shown will be described.

[Modification of detector]
In the above embodiment, the ultrasonic probe 710 is provided on the traveling direction FW side with respect to the shaft housing part 210, but the present invention is not limited to this aspect. For example, at least a part of the ultrasonic probe 710 may enter the shaft housing part 210.

[Variation of connection mode between main shaft and housing]
In the above embodiment, the probe fixing portion 206, the casing cover portion 208, and the shaft housing portion 210 are integrally formed, but the present invention is not limited to this aspect. Two or more portions of the probe fixing portion 206, the casing cover portion 208, and the shaft housing portion 210 that are connected to each other may be independent as members, and these members may be connected to each other.

[Modification of protection part]
In the above embodiment, the protective part 722 has a hemispherical shape, but the present invention is not limited to this aspect. For example, the inclined surface on the surface of the protection portion 722 may be a straight line such as a conical shape and a pyramidal shape as well as a case where the cut shape in the axial direction is a curved surface. Furthermore, the end portion in the traveling direction of the protection part 722 may be a curved surface or a flat surface with different curvatures. For example, the protection unit 722 may have a truncated hemispherical shape, a truncated cone shape, or a truncated pyramid shape.

[Modification of flexible part]
In the above-described embodiment, the coil spring is exemplified as the flexible portions 113 and 116g, but the present invention is not limited to this mode. The flexible portion 113 only needs to penetrate in the axial direction, and may be, for example, a bellows tube or another flexible tube.

[Modification of alignment and wheel]
In the above embodiment, the main alignment arm 411 and the auxiliary alignment arm 423 of the main alignment unit 400 and the auxiliary alignment arm 451 and the auxiliary alignment arm 473 of the auxiliary alignment unit 450 are separated from the main axis unit 200 and the auxiliary axis unit 250. Although an example in which the shape is slightly refracted so as to be convex in the away direction has been given, the present invention is not limited to this embodiment. Each arm may be curved or convex so as to be convex in that direction.
In the above embodiment, the wheel 500 is provided in a cantilever manner, but may be provided in a both-end manner.

[Correspondence Relationship Between Each Part in Embodiment and Other Examples and Each Component in Claim]
In the present invention, the ultrasonic inspection apparatus 100 corresponds to the “ultrasonic inspection apparatus” in the claims, and the internal movement units 110, 110a, 110b, 110c, 110d, 110e, 110f, and 110g correspond to the “internal movement section”. The external operation unit 120 corresponds to an “external operation unit”, the cables 130, 130h, and 130i correspond to “cables”, the air tubes 131 and 131i correspond to “air tubes”, and the electric cables 132 and 132h. Corresponds to the “electric cable”, the core materials 139 and 139h correspond to the “core material”, the main air cylinders 300, 300a and 300f and the sub air cylinders 350, 350a and 350f correspond to the “air cylinders” and are hollow. The shaft motor 610 corresponds to the “hollow shaft motor”, the ultrasonic probe 710 corresponds to the “ultrasonic probe”, and the acoustic reflector 720 “ Corresponds to the sound reflecting part ", the tube 900 corresponds to a" tube ", the gas phase GP corresponds to the" gas phase ".

  The present invention is not limited to the above-described embodiments, and various modifications can be made without departing from the spirit of the present invention.

100 Ultrasonic inspection apparatus 110, 110a, 110b, 110c, 110d, 110e, 110f, 110g Internal moving part 113 Flexible part 120 External operation part 130, 130h, 130i Cable 131, 131i Air tube 132, 132h Electric cable 139, 139h Core 200 Main shaft part 226 Sliding ring (sliding part)
230, 230f Taper spacer 250 Secondary shaft 300, 300a, 300f Main air cylinder (air cylinder)
350, 350a, 350f Sub air cylinder (air cylinder)
400, 400d, 400e Main alignment portion 411 Main alignment arm 412 and 412e Link arm 423 Auxiliary alignment arm 424 Auxiliary link arm 450, 450d, 450e Sub alignment portion 451 Sub alignment arm 473 Auxiliary alignment arm 500 Wheel 610 Hollow shaft Motor 710 Ultrasonic probe 720 Acoustic reflection portion 722 Protection portion 900 Tube FW Traveling direction BW Retraction direction R Minimum bending radius r Inner diameter of tube FL Length of flexible portion GP Gas phase

Claims (8)

An internal moving part that drives the inside of the tube in a push-in manner,
A wheel provided in the internal movement unit, an air cylinder for bringing the wheel into contact with an inner wall of the tube, an ultrasonic probe, an acoustic reflection unit provided at a transmission destination of the ultrasonic probe, and the A hollow shaft motor that rotates the acoustic reflector,
An external operation unit for operating the air cylinder and the hollow shaft motor;
A cable connecting the internal movement unit and the external operation unit,
The cable includes at least an air tube communicating with the air cylinder, and an electric cable housed in the air tube and connected to the hollow shaft motor, and has a straightness and 300 kN · mm ^{2 to} 12,000 kN. An ultrasonic inspection apparatus having a bending rigidity of mm ² or less. The cable includes a core member housed inside the air tube, at least one end of which is not fixed,
The ultrasonic inspection apparatus according to claim 1, wherein the core material has the straightness.   The ultrasonic inspection apparatus according to claim 2, wherein the other end of the core member is fixed to at least one of the air tube, the electric cable, and the internal moving unit. The bending rigidity of the air tube is at 300 kN · mm ² or more 5000kN · mm ² or less, flexural rigidity of the core material is 300 kN · mm ² or more 12000kN · mm ² or less, ultrasound according to claim 2 or 3 Inspection device.   The ultrasonic inspection apparatus according to any one of claims 2 to 4, wherein an Ra / Rc ratio is 1 or more and 5 or less when an inner diameter of the air tube is Ra and an outer diameter of the core member is Rc. .   The ultrasonic inspection apparatus according to claim 1, wherein the air tube has the straightness.   The ultrasonic inspection apparatus according to claim 1, wherein a thickness of the air tube is 1.8 mm or greater and 4.0 mm or less.   The ratio of the cross-sectional area of the gas phase in the air tube to the entire internal space of the air tube in a cross section perpendicular to the axial direction of the cable is 20% or more and 95% or less. The ultrasonic inspection apparatus according to item 1.

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